CN101007549A - Track-mounted waling device and stair-climbing chair adopting the device - Google Patents

Abstract

The invention involves a crawler walking device and the climb-stair chairs using the device. The crawler walking device includes two same walking units, each walking unit includes crawler, fore frame and rear frame, the crawler is supported by the roller group installed on fore frame and rear frame, the roller group includes active roller, the active roller is connected with crawler drive device; the fore frame and rear frame are pivoted, lower diverted roller is installed below the pivoting point, and the lower part of the lower diverted roller forms notch between the fore frame and the rear frame. The advantages of the invention: rational structure, low cost and good use effect, it can climb the ramps which slope is less than or equal with 45 degrees and the stairs in the same degrees by itself. The armchair can run in staircases of ordinary resident domestic buildings completely. When the armchair runs on flat ground, it has climbing-slope function of 45 degrees, it has broad application scope and can more fully meet the activities requirements of the mass who walk inconveniently.

Description

Cterpillar drive and adopt the stair-climbing chair of this device

Technical field

The present invention relates to a kind of running gear, specifically a kind of cterpillar drive and adopt the stair-climbing chair of this device.

Background technology

The existing running gear modes that adopt one group of driving wheel and flower wheel to be used are finished walking function more, and still, the running gear of this class formation can only be walked on the level land, can't climb the building.Conventional cterpillar drive can be climbed stair in easy flights and that step is less.In order to adapt to the needs of climbing the building, the city fighter robot of the recent model telerobot PackBot of intelligent robot company development and the development of U.S. iRobot company, on the basis of each main cterpillar drive, increase the auxiliary crawler attachment of a guiding usefulness, should assist crawler attachment and main cterpillar drive to be used, auxiliary main cterpillar drive is finished and is climbed the building function under control system control.The cterpillar drive of this structure has solved this problem to a certain extent, but its structure is very complicated, and needs control system to control in real time just to finish, make troubles to use, also increase the cost of product.

The existing running gear of what is more important is difficult to be effectively applied to the wheelchair of helping the disabled.According to China Disabled Federation's recent statistics numeric display, the present disabled people's number of China reaches 8,770,000 people, and these disabled people groups comprise that mainly the limb limb residual and that paralysis causes that congenital limb is residual, contingency causes is residual.Can't independent ambulation and in these disabled people groups, have greatly, must just can accomplish to take care of oneself by means of wheelchair.The existing wheelchair of helping the disabled does not generally have climbs the building function, though also there are some to have the building of climbing function through the wheelchair after the particular design, perhaps can't promote because cost is too high, perhaps since structure too complexity be difficult to practical application, perhaps need just can finish and climb the building function, thereby not have commercial promise by means of other auxiliary device.

Below some representative types being had the wheelchair and the correlation technique of climbing the building function is described further.

1, so far, a kind of wheeled chair that can climb the building is voluntarily only arranged in the world, by the U.S. is invented, this invention picture is in issue in 1999.Qian river, Hangzhou, Zhejiang province evening paper was once issued this picture and cutline on July 5th, 1999." scientific and technological new product ", it is said and put on market in the situation of also once reporting this seat 2003 years at 2003 annual magazines, lies fallow in the more sandy beach that is used for.So and claim it to adopt premium-quality Numeric Control Technology to have the performance of climbing building and climbing.But the price of this seat is too high, needs two to 25,000 U.S. dollars according to reports approximately, is roughly equal to Renminbi 170,000 to 210,000, is equivalent to the price of an intermediate-size car.Owing to select for use wheeled mechanism to realize upstairs, its structure and control system are inevitable very complicated, scientific and technological content is inevitable very high, the productive costs height, selling price is also just very high, thereby its maintenance service and fittings supply require also very highly, is not that common people afford, and therefore is difficult to generally be applied.

2, according to the external sample data introduction of Chinese science and technology information institute, there are two kinds of products that can help the Wheelchair stair activity in Europe, produces by Austrian Bao Man (company of a tame production passenger and freight aerial cableway), and wherein a kind of is the crawler type auxiliary device.This crawler type auxiliary device is an independently traveling gear, its oval of whole piece crawler belt maintenance in the process of walking columnar structure, during use wheelchair is placed on this crawler type auxiliary device, wheelchair is transported to upstairs or downstairs by the crawler type auxiliary device, and then takes off by wheelchair and walk voluntarily.Thereby, must escort use by the paramedic in the whole process of upper and lower stair.This auxiliary crawler attachment is domestic to be developed by units such as Zhejiang University recently and puts on display in the relevant exhibition in Hangzhou.Another kind of then be that sidewall at stair is provided with special-purpose guide rail, and a car is set on guide rail, during use wheelchair is positioned on this car, make car along guide rail movement, climb the building function thereby finish.This kind climbed the place that the building mode only limits to be equipped with above-mentioned exclusive guideway and car, as large-scale hotel or senior house.Because wheelchair self does not have and climbs the building function, thereby its use is also limited to.

Up to the present, we also do not find the electronic product that can climb the building voluntarily that other are similar or more advanced.

Summary of the invention

The present invention will solve is the problems referred to above that prior art exists, and provides that a kind of structure is simple relatively, cost novel crawler-type running gear lower and easy and simple to handle.

The present invention also will provide a kind of stair-climbing chair, and its cost is cheap relatively, and operation is very reliable, also need not install by other simultaneously.

The technical scheme that addresses the above problem employing is: this cterpillar drive, comprise by one and integrate two identical walking unit that frame connects, each walking unit comprises crawler belt, anterior frame and rear portion frame, crawler belt is supported by the roller group that is located on anterior frame, the rear portion frame, comprising active roll tube, be connected with track driving mechanism on this active roll tube; Described anterior frame and rear portion frame are hinged, are provided with bottom changed course roller at the hinge-point place, and the below of bottom changed course roller forwardly forms breach between frame, the rear portion frame.

Cterpillar drive of the present invention fits together active roll tube and driven roller train by anterior frame of pivotally attached and rear portion frame, rotation by hinge-point in climbing the building process remains with 2 on stair crawler belt at least and contacts, also promptly just can finish and climb the building by two crawler belts, promptly safe and reliable, simple again.The crawler attachment assembly is the design-calculated breach below frame hinged place, front and back, mainly contains three effects: one. and to bump in order when climbing the building, avoiding carrying between parts and crawler belt and crawler belt and the stair, to guarantee the walking of crawler belt safety.Two. when crawler travel arrives the stair top, the track rail assembly bottom have one can tortuous space.Three. optimize the driveability of crawler belt, increase the engagement wrapping angle between active roll tube and crawler belt, guarantee that driving roller has enough big propulsive effort to crawler belt.

Anterior frame is provided with locating dowel pin above the hinge-point place, the rear portion frame above the hinge-point place, design have corresponding with locating dowel pin, prevent that anterior frame from toppling over the arc position-limited trough of excessive angle backward.When anterior frame clockwise rotated (being that hinge-point is upwards bended forward), its locating dowel pin separated with the inclined-plane of rear portion frame, can freely rotate; And when anterior frame rotated counterclockwise (being that hinge-point is to lower recess), the inclined-plane of its locating dowel pin and rear portion frame was drawn close gradually until inconsistent, and this moment, hinge-point was limited.So anterior frame is limited at when hinge-point rotates counterclockwise in the angle, guarantee that cterpillar drive can adapt to various occasions and all kinds of carrying parts use, that is to say that this hinge-point can upwards be bended forward, but can not when lower recess, must be limited to one relative to ground level.This is because can upwards bend forward time-out when this hinge-point, is enough to guarantee that by carrying parts (as seat, the transport trolley etc.) deadweight or the load-carrying that are provided with thereon the base maintenance of crawler belt contacts with the good of ground or stair; And, then can cause the stressed irregular of crawler belt, and then be difficult to guarantee its smooth running when this hinge-point during to lower recess.

Because cterpillar drive of the present invention not only has the function that traditional running gear is walked on the level land, also has the building of climbing function, for taking into account two functions, done optimization process in the design to the part crawler belt of anterior frame, the angle α of the crawler belt of part and horizontal surface 30 ~ 45 spends between envelope active roll tube and the tensioning roller.Like this, when carrying out the two sides walking, active roll tube, lower support roller and afterbody driven voller tube form multiple spot to ground-surface supporting, are enough to guarantee crawler belt and ground-surface good the contact.And climb building when motion when device, and the inclined-plane of this chamfered portion and stair forms low-angle, only need slightly lift or transfer get final product, thereby just can be naturally under the control that need not be special and finish easily and climb the building and move.In order to guarantee crawler belt and ground-surface good the contact, and make the crawler belt of this part stressed evenly, described lower support roller is 1-5, and the crawler belt of the driven roller part of a plurality of lower support rollers of envelope and afterbody linearly.Also be provided with afterbody changed course roller on the frame of described rear portion.The crawler belt parallelogram shape of envelope rear portion rack section like this, the connection and the installation of being convenient to carry parts.

Also be provided with track takeup on the roller seat of described tensioning roller.Tightening device is set can reaches following technique effect: the one, the tensioning roller can be withdrawn when installing or change crawler belt, so that pack into and take out crawler belt; The 2nd, when running gear was walked and climb the building, crawler belt had enough and constant degree of tension; The 3rd, by meticulous adjustment, make two single crawler belts of walking keep degree of tension in full accord, so can make two the tensioning roller lines of centres maintenances that belong to two walking unit of crawler belt and the line of centres keeping parallelism of two driven rollers of afterbody, crawler belt just can sideslip, guarantee that crawler belt operates steadily, reduce the wearing and tearing of track edges.For this reason, make the regulation and control of to stretch as its structure of tensioning roller of tension wheel.Described track takeup comprises a pair of adjustment screw rod and tensioning spring, and described a pair of adjustment screw rod bottom is coupling on the installation base plate that is fixedly connected with described anterior frame, the top be connected to one with the fixing top board of described tensioning roller seat on; And the bottom of described each adjustment screw rod is provided with a break-in umbrella wheel, and described break-in umbrella wheel mouth connects adjusts spanner; Described tensioning spring is sleeved on to be adjusted on the screw rod, the bottom be fixed on one with described adjustment screw flight bonded assembly bracket on, the top is fixed on the top board.

The stair-climbing chair of the above-mentioned cterpillar drive of this employing, comprise seat body, be provided with control system on described seat body, the bottom of described seat body is provided with described cterpillar drive, is provided with the seat leveling device between seat body and cterpillar drive.

Described seat leveling device comprises horizon sensor, sensor control circuit and horizontal adjusting mechanism, described horizon sensor comprises arc and seal glass body that be built-in with the mercury conductor, the central authorities of described mercury conductor top are provided with bubble, and the contre electrode of drawing from the bubble place and lean forward electrode and the hypsokinesis electrode of drawing from mercury conductor both sides are wired to sensor control circuit respectively; Described sensor control circuit is arranged in the described control system; Described horizontal adjusting mechanism comprises hinge bracing strut, last hinge axle, goes up hinge axle bed, electrical motor, retarder, lifting nut, time hinge axle, time hinge axle bed and drive screw, described upward hinge bracing strut is fixed on the seat body bottom and is connected with the described hinge axle of going up, described upward hinge axle bed is sleeved on described going up on the hinge bracing strut and with lifting nut and is connected, described lifting nut is sleeved on the drive screw, and described motor output end is connected to the bottom of described drive screw by retarder; Described electrical motor, retarder and drive screw are fixed on the described down hinge axle, the hinge-point axis coinciding of described hinge axle down and front and rear part frame and be arranged on described descending on the hinge axle bed rotationally.

Described drive screw is two, and is driven respectively by two gears about same motor drives.Make seat more steady when carrying out horizontal adjustment.When electrical motor rotated, the screw rod that drives both sides was done rotation in the same way, thereby made lifting nut on the screw rod up simultaneously or move down, so drive seat body around the hinge of itself and anterior frame by upwards rotating, make seat plane maintenance level.

For preventing seat oil leak when climbing building or climbing, described retarder is an all-sealed structure, and selects for use Molykote to lubricate drive screw.For preventing the pollution of dust, described lifting nut top is provided with dust protecting cap, and the bottom is provided with scalable dust protecting cap.For protecting this mechanism, the both sides of mechanism and front portion also be equipped with telescopic in outer shield, with the protection parts and increase the attractive in appearance of its profile.Described upward hinge axle and last hinge axle bed assembly are a pair of and coaxial horizontally set.

Contre electrode in the horizon sensor and two side electrodes are by lead and control signal amplifier UNICOM, and output seat levelness is adjusted the control signal of electrical motor rotating.Totally four of horizon sensors are symmetrically distributed in the both sides of seat body.Described four horizon sensors are installed in parallel on the line, the purpose that full seat is installed four groups of sensors altogether is in order to guarantee the reliability of its work, when any therein two groups of sensors sent control signal, the levelness setting device just carried out the adjustment operation of chair angle.Sensor adopts inserts the eliminant modular construction, can change by fast assembling-disassembling during maintenance.Described contre electrode is a pair of.The levelness sensor is that on even keel is installed on the seat both sides, when it was in horizontality, the bubble in the mercury conductor was in the centre of glass tube, and two electrodes are at a distance of 5 millimeter therebetween, not conducting mutually, sensor is when direction once tilts forwards, backwards, and mercury just contacts with a side electrode, circuit turn-on, send operation signal, the tilted orientation difference, the circuit that sends signal is also inequality, thereby carries out different controlling.

Described contre electrode also can have only a public pole, and the structure of control circuit can be adjusted to some extent like this, but can reach the purpose of control output equally.

Described seat body comprises tread plate, seat cushion, seat support, handrail and backrest, described seat support bottom be provided with described seat leveling device pivotally attached on lift hinge and with the fixing hinge of described anterior frame pivotally attached.Described seat cushion is a soft cushion structure, and the user is felt good.The below of seat cushion also is provided with the seat cushion case, and seat levelness adjusting mechanism and electronic apparatus control device can be installed.Described two side handrails below also is provided with armrest box, can place objects such as action button and lead-in wire, Charger (portable round) and lead, distress call device and first-aid medicine.Seat usefulness fixedly hinge is installed on the seat hinge of track rail assembly front portion, and track rail assembly can rotate as fulcrum, and the maximum anglec of rotation is 45 degree.The installation site of seat on track rail assembly is in the front portion of seat, its backrest is towards the place ahead of track rail assembly, and step is towards the rear of track rail assembly, so the occupant back is towards stair in climbing the building process, falling back upstairs, the front is seated downstairs, makes the occupant comparatively comfortable and safe when climbing the building.Also be provided with the automatic operation device on the described handrail, be convenient to operation.

Described horizon sensor can directly be fixed on described seat cushion both sides, also can also offer mounting hole and be used to bury underground horizon sensor being positioned at place, both sides below the seat cushion on the seat support.

Described control system comprises that central control unit able to programme (PLC), information input unit branch, information output part divide and power supply.The information input unit branch can receive the control foundation of several information such as power supply and running state data information, handle or button operation information, seat levelness sensory information, voice control information and other control input information as Programmable Logic Controller.Power controller is given in central control unit able to programme (PLC) output control information, handling three driving motors (driving motor of left track walking unit, the driving motor of crawler travel unit, right side, the driving motor of seat leveling device) by the running of designing program, makes seat move by operating needs.Central control unit and the operational factor of relevant seat such as voltage, speed, power information (the residual electric weight of storage battery, charge notification etc.) and other relevant information fed back is shown on the read-out of steering controller, the reference when using for occupant and operator.This read-out can also show brief first aid explanation when implementing distress call, for offering help for the rescuer.On the seat voice output module can also be set,, when the seat controller is provided with radio receiver, can play radio station news and CD etc. to carry out voice dialogue, broadcasting MP3 music, speech chronopher and timing prompting etc.In a word, according to user's operating needs, the central control unit on the seat can have bigger built-in capacity, increases more additional functions of use.

The power supply of described track driving mechanism and control system adopts the chargeable storage system, with the safety voltage power supply of low pressure 24V.

The effect that the present invention is useful is: the present invention is rational in infrastructure, cost is low, result of use is good, can creep on the gradient etc. is less than or equal to the slopes of 45 degree and the stair of same angle up and down voluntarily.Because its plane projection controllable size is in 0.98 * 0.60 meter scope, and can be at pivot stud, so this seat can move in the stair case in general residential building building fully.When this seat moves on the level land, also have the climbing function of 45 degree, applied widely, can more fully satisfy the Operations Requirements of handicapped colony.

Description of drawings

Fig. 1 is the structural representation of cterpillar drive of the present invention.

Fig. 2 is the birds-eye view of Fig. 1.

Fig. 3 is a crawler belt and the scheme drawing that cooperates of train.

Fig. 4 is the enlarged diagram at A place among Fig. 3.

Fig. 5 be among Fig. 3 B-B to cutaway view Amplified image.

Fig. 6 is the axonometric drawing of cterpillar drive of the present invention.

Fig. 7 is the structural representation of track takeup.

Fig. 8 is the cutaway view of C-C among Fig. 7.

Fig. 9 is the structural representation of track propulsion.

Figure 10 is the left view of Fig. 9.

Figure 11 is the birds-eye view of Fig. 9.

Figure 12 is the exploded drawings of the form of substep upstairs of cterpillar drive of the present invention.

Figure 13 is the exploded drawings of the form of substep downstairs of cterpillar drive of the present invention.

Figure 14 is the substep form overlay chart of cterpillar drive of the present invention in go upstairs initial or the terminal procedure of going downstairs.

Figure 15 is the substep form overlay chart of cterpillar drive of the present invention in the end upstairs or the initiating process of going downstairs.

Figure 16 is the invention cterpillar drive when going upstairs initial and reach end midway or downstairs midway, and the front and back frame is at the constitution diagram at hinge-point place.

Figure 17 is an invention cterpillar drive when finishing upstairs or go downstairs when initial, and the front and back frame is at the constitution diagram at hinge-point place.

Figure 18 is the structural representation that the present invention has the pedestal of climbing the building function.

Figure 19 is the axonometric drawing that the present invention has the pedestal of climbing the building function.

Figure 20 is the structure and the circuit diagram of horizon sensor.

Figure 21 is horizon sensor forward-lean state figure.

Figure 22 is horizon sensor retroverted state figure.

Figure 23 is the structural representation of seat leveling device.

Figure 24 is the birds-eye view of Figure 23.

Figure 25 is the left view of Figure 23.

Figure 26 is the structural representation of seat body.

Figure 27 is the left view of Figure 26.

Figure 28 is the schematic block circuit diagram of control system.

Figure 29 is the schematic block circuit diagram to power-control section of control system.

Figure 30 is the constitution diagram of seat when advancing.

Figure 31 is the constitution diagram of seat when retreating.

Constitution diagram when Figure 32 is the seat flicker.

Constitution diagram when Figure 33 is the seat flicker.

Figure 34 is the constitution diagram of seat when the circular arc right-hand corner.

Figure 35 is the constitution diagram of seat when the circular arc turnon left.

Figure 36 is that single folding stair dwelling house is climbed building overall process flow chart.

Figure 37 is that two-fold stair dwelling house is climbed building overall process flow chart.

Figure 38 climbs building overall process subprogram block diagram.

Figure 39 is that stair-climbing chair is climbed each operating mechanism of building process and motoring table.

Figure 40 is that stair-climbing chair is climbed building process Programmable Logic Controller flow chart symbol instruction card.

Figure 41 is the diagram of circuit when going upstairs turnon left between single folding floor.

Figure 42 is the diagram of circuit when going upstairs right-hand corner between single folding floor.

Figure 43 is the diagram of circuit when going upstairs turnon left between the two-fold floor.

Figure 44 is the diagram of circuit when going upstairs right-hand corner between the two-fold floor.

The specific embodiment

The invention will be further described below in conjunction with accompanying drawing:

With reference to Fig. 1,2,3,6, cterpillar drive of the present invention, a kind of cterpillar drive, comprise by one and integrate two identical walking unit that frame connects, each walking unit comprises crawler belt, anterior frame and rear portion frame, crawler belt is supported by the roller group that is located on anterior frame, the rear portion frame, comprising active roll tube, is connected with track driving mechanism on this active roll tube; Anterior frame and rear portion frame are hinged, are provided with bottom changed course roller at the hinge-point place, and the below of bottom changed course roller forwardly forms breach between frame, the rear portion frame.The roller group comprises the active roll tube 207 that is positioned on the anterior frame 220, tensioning roller 215, the top first changed course roller 212 and is positioned at the bottom air bells removing roll tube 217 on the rear portion frame 202, three lower support rollers 218, the driven roller 201 of afterbody and the top second changed course rollers 213; Described crawler belt 209 is in the following manner successively through forming closed loop behind each roller: the inner surface envelope top first changed course roller 212, tensioning roller 215, active roll tube 207, outer surface envelope bottom changed course roller 216, inner surface envelope bottom air bells removing roll tube 217, lower support roller 218, the driven roller 201 of afterbody, the outer surface envelope top second changed course roller 213; Described active roll tube 207 passes through the tooth engaged transmission with crawler belt 209 inner surfaces.

Described anterior frame 220 and rear portion frame 202 are assembled into by a plurality of attachment bolts 205 by the monolithic support.Be convenient to assembling, debugging and maintenance, but and saving in material.

The crawler belt 228 of part is 30 ~ 45 degree with the angle α of horizontal surface between envelope active roll tube 207 and the tensioning roller 215.

The crawler belt 224 of the driven roller part of a plurality of lower support rollers 218 of envelope and afterbody linearly.Also be provided with afterbody changed course roller 211 on the frame of described rear portion.

With reference to Fig. 4,5, the neoprene that described crawler belt 209 employings are primary raw material with the butyronitrile rubber is made, and requires to have higher wear-resisting and oil resistance.The design width of crawler belt is 100 millimeters, and design thickness is 10 millimeters, makes circle (O) type in advance in manufacturer and seals pattern continuously, makes the intensity of its joint and shape do in full accordly with body, and both convenient the installation and replacing makes its operation more reliable again.The structure of crawler belt is divided into three layers from inside to outside on thickness: its inner structure layer is a flute profile Drive Layer 225, be used for meshing with driving roller, to drive the crawler belt operation, drive flute profile and adopt synchronous belt H type profile of tooth (making) by standard GB 11616-89, pitch is 12.7 millimeters, tooth depth is 2.29 millimeters, is that 2209.8 millimeters last its driving numbers of teeth are 174 at overall length of crawlers (the centromere line length with crawler belt is calculated); The Structural layer at the middle part of crawler belt is a tensile strength layer 226, embedded high strength tension nylon heart yearn, and this layer thickness is 3.71 millimeters, the rubber cover thickness on heart yearn four limits is no less than 1 millimeter; Crawler belt is outer creeps layers 227 for flute profile, and its tooth linear pitch of creeping is 25.4 millimeters, and nodel line place transverse tooth thickness is 12.7 millimeters, and tooth depth is 4 millimeters, encloses creep 87 in tooth of crawler belt entirely.Traveling crawler has very high operating safety factor, and in climbing the building process, when the seat ramp angle reaches 45 when spending, the working tension of every crawler belt can reach nearly 3,000 Ns, and this moment, traveling crawler still had enough tensions and the anti-nargin of pulling.The maximum operational speed of traveling crawler only is 0.6 meter of a per second, belong to the low inertia sports system of low speed, but its mode of operation particularly is in high wear working condition in steering procedure, for increasing the service life of crawler belt, crawler belt adopts butyronitrile rubber to make, can adopt the way of infiltrating the high wear-resistant ally particle to strengthen its wear ability in the interior outside tooth portion rubber of crawler belt, the thickness of crawler belt wearing layer is no less than 2 millimeters.

The design length of traveling crawler calculates by the center nodel line of its interlayer, strict in process of production this size of control of crawler belt, error in length must not be greater than 0.5% after the crawler belt moulding, in producing, crawler belt also should strictly control the prescription of rubber raw materials and the percentage elongation after the crawler belt moulding, press operating needs, crawler belt is under the pulling force of 3000N, and its percentage elongation must not be not more than 11 millimeters (are equivalent to track tensioning force about 100%) greater than 0.5% i.e. full circle absolute elongation.

With reference to Fig. 7,8, also be provided with track takeup on the roller seat 210 of described tensioning roller 215.Described track takeup comprises a pair of adjustment screw rod 302 and tensioning spring 303, described a pair of adjustment screw rod 302 bottoms are coupling on the installation base plate 306 that is fixedly connected with described anterior frame 220, the top be connected to one with the fixing top board 308 of described tensioning roller seat 210 on; And the bottom of described each adjustment screw rod 302 is provided with a break-in umbrella wheel 301, and described break-in umbrella is taken turns 301 mouths and connected the adjustment spanner; Described tensioning spring 303 is sleeved on to be adjusted on the screw rod 302, the bottom be fixed on one with bracket 304 that described adjustment screw rod 302 is threaded on, the top is fixed on the top board 308.Described adjustment handle has the protection nut 305 in order to lock handle, thereby makes handle can not become flexible the degree of tension that guarantees crawler belt voluntarily when crawler belt turns round.

Rotate the regulating handle (not shown), drive break-in umbrella wheel 301 and adjust screw rod 302 along self axle rotation, be arranged on the suspension of adjusting on the screw rod 302 304 and move up and down, thereby drive the elasticity that tensioning roller seat 210 is made fore and aft motion and then regulated crawler belt along adjusting screw rod 302.

Described tensioning roller seat 210 is fixing with top board 308, and forwardly two inboards of frame are provided with side plate 309 a pair of and that top board 308 reaches and/or roller seat 210 is fixed, four pairs of guide bolts 307 forwardly are set on the frame 220, simultaneously offer guide groove at side plate 309, described guide bolt 307 is embedded in the guide groove, like this, when tightening device drive tensioning roller seat 210 is made fore and aft motion, guide bolt 307 is along guide groove movement, and guiding tensioning roller seat 210 moves exactly.Certainly, this guidance mode, described guide bolt and guide groove can be exchanged setting, also can reach same guide effect.Head roller after the tensioning can reach 3000N to the tensile force of every crawler belt.

With reference to Fig. 9,10,11, described each active roll tube 214 respectively is provided with a track driving mechanism, comprises electrical motor 402, retarder 401, deceleration base 403 and deceleration footstock 404.About two crawler belts each drive by a cover independent driving mechanisms, can realize comprising the operating needs of original place rotation with turning with different mode with various speed walkings.Track driving mechanism can also be any standard structure of other routine,

The electrical motor 402 that this mechanism selects for use is the DC motor of gradable speed governing or connection speed governing, operating voltage is 24 volts of direct currents, the speed adjustment scope from 1000 rev/mins to 3000 rev/mins change, select high rotating speed during level walking for use, climb the building or slow speed of revolution the time is selected in climbing for use.About 140 watts of every power of electric motor.

The selected retarder 401 of this mechanism is a worm type of reduction gearing.Originating firm typing number be " FCWDK ", and model definition is: vertical, no footing, top input shaft, export spool be hollow.This retarder is advanced model at home, has adopted the foreign technology of introducing, and has high torque (HT), compact conformation, characteristics such as easy for installation.Selected its width between centers of model of this machine is 40 millimeters, and transmitting ratio is 1: 40.Retarder 401 is installed on 404 of base 403 and footstocks, is all fixed with bolt up and down.Insert the drive shaft 229 that is installed together with active roll tube 214 in the output hollow shaft of retarder 401, motor reel then directly inserts in the output shaft hole of retarder 401, and electrical motor 402 usefulness flanges dock with retarder 401.

This mechanism adopts profile of tooth active roll tube 214 to drive traveling crawler 209, its flute profile is to be with H type profile of tooth (standard GB 11616-89) synchronously, the flute profile pitch is 12.5 millimeters, and tooth depth is 2.29 millimeters, and total engaging tooth is 40 around the roller, the synchronous tooth pitch circle diameter of roller is 160.33 millimeters, the roller external diameter is 163.074 millimeters, and there is the wheel limit roller both sides, to prevent the side travel of crawler belt, the inboard width in roller limit is 102 millimeters, adopts compound type punching out wheel rim.

The project organization compactness of driver train, frame adopts book punching of the steel plate spare, and mechanism simplifies frivolous as far as possible, and guarantees that mechanism has enough rigidity and safe in operation to guarantee.Crawler belt 209 adopts lower creeper speed climbing building and when climbing, and its oblique speed is 0.2 meter per second, to general three meters high floors, climbs the building time for every layer and is about 20 seconds to 30 seconds.The highest line of cterpillar drive when level walking walked speed about 0.6/ second (the stroll speed that is equivalent to general people), can adopt multistage or continuous speed adjustment.

With reference to Figure 12, the process of going upstairs of cterpillar drive of the present invention is as follows:

Figure 12 is made of 15 of Fig. 1 y ~ 15y exploded drawingss of arranging according to the order of sequence, and the disassembling operation of Fig. 1 y ~ 10y ten width of cloth exploded drawingss when upstairs beginning wherein, Fig. 1 y are running gear at the state that retreats on the level land when crawler belt contacts with first order stair corner.Fig. 2 y is the state of crawler belt when beginning to climb up first order step.Fig. 3 y is that the active roll tube bottom is climbed to the state of first order step corner.Fig. 4 y is that crawler belt is climbed to rigidly connecting state when touching with second stage step corner, and Fig. 5 y is the state of crawler belt when beginning to climb up second stage step.Fig. 6 climbs to rigidly connecting state when touching with second stage step corner for active roll tube, and Fig. 7 y is that active roll tube is climbed up step corner, the second stage, and the just state during built on stilts in crawler belt bottom.Fig. 8 y is that crawler belt continues to swash, the complete built on stilts of whole running gear and state when being on the step.Fig. 9 y is swash a state when contacting with third stage step of crawler belt.Figure 10 y is the state of crawler belt when the 3rd step swashes.

The disassembling operation scheme drawing of Figure 11 y ~ 15y five width of cloth exploded drawingss when upstairs finishing, wherein Figure 11 y is the state of active roll tube when just having climbed to plane corner on the step.Figure 12 y is that active roll tube is climbed up plane on the stair and the rear portion crawler belt has just been run into the state when going up the plane corner.Figure 13 y is the crawler belt state of track rail assembly back when beginning to arch upward that continue to swash.State when Figure 14 begins to climb up plane on the stair for the rear portion crawler belt.Figure 15 y is the state of whole track rail assembly when all climbing up plane on the stair.

With reference to Figure 13, the process of going downstairs of cterpillar drive of the present invention is as follows:

Figure 13 is 15 exploded drawingss formations of arranging according to the order of sequence by Fig. 1 x ~ 15x.The little figure of 1x ~ 5x five width of cloth is the disassembling operation when downstairs beginning.Wherein Fig. 1 x be crawler belt creep just begin, the track rail assembly state the during plane on stair still.Fig. 2 x is that crawler belt continues to creep, and the rear portion has just begun the state when sagging.Fig. 3 x is creep downwards a state when the rear portion crawler belt touches the next stage step of track rail assembly.Fig. 4 x is the state when climbing to the assembly recess under the track rail assembly and being slipped to corner, plane on the stair.Fig. 5 x climbs to the state behind the plane on the stair that leaves under the drive wheel of track rail assembly.

The little figure of Fig. 6 x ~ 15x ten width of cloth is the disassembling operation when downstairs finishing.Wherein Fig. 6 x for process seat downstairs is in the state of track rail assembly during the following third stage.Fig. 7 x is the state of track sprocket when climbing under the second stage from the following third stage.Fig. 8 x is the state when climbing to drive wheel contact plane, the second stage under the crawler belt.Fig. 9 x is the state when climbing below drive wheel is in second stage corner under the crawler belt.Figure 10 x is the state of climbing under the crawler belt when its underpart rigidly connects tread surface.Figure 11 x is the state of climbing under the crawler belt to the middle part when unsettled.Figure 12 x is the state when climbing to the drive wheel contact second stage under the crawler belt.Figure 13 x is the state when climbing to drive wheel contact corner, the second stage under the crawler belt.Figure 14 x is that crawler belt continues to climb down to the middle part state when unsettled.Figure 15 x is the state of track rail assembly when all down climbing to ground.

Overall process when going upstairs and going downstairs for vivider demonstration track rail assembly, Figure 14,15 will go up downstairs each operating state that decomposes little figure of process and be superimposed and shown, the overlay chart of Figure 14 when upstairs beginning and downstairs finishing, the overlay chart of Figure 15 when upstairs finishing and downstairs beginning.We can clearly be seen that the action of seat track rail assembly in the overall process of going upstairs and going downstairs changes from this two overlay chart.

From above-mentioned exploded drawings as can be seen, the sunk structure of track rail assembly bottom is at exploded drawings 5y, all there are ten wind significantly to act on during each state of 8y ~ 10y and 11y ~ 13y and 3x ~ 8x and 11x, and visible track rail assembly remains rigid state in the initial and ending phase and the intermediary downstairs of going upstairs, and arrive on the step plane and from when climbing under the plane assembly all arch upward at the meeting middle part, make track rail assembly gently carry out the transition to the plane walking states, so just make the parts that are arranged on above the running gear when climbing the building operation, seem very steady from the step state that swashes.For this reason, track rail assembly has structurally been taked some measures necessary,

With reference to Figure 16, the front and rear part frame is designed to semi circular surface in opposite directions at hinge-point 206 places, on the semi circular surface on the rear portion frame 202, the spacing arc groove 231 of two symmetries is set, forwardly frame 220 is provided with and inserts two relative locating dowel pins 230 of this circular arc position-limited trough 231.At state shown in Figure 16, cterpillar drive is in initial the reaching of going upstairs and reaches when finishing midway or downstairs midway, at this moment, its gravity of carrying parts of cterpillar drive is arrow E indication orientation, the supporting power that crawler belt is subjected to ground or stair surface simultaneously is in the active roll tube 207 cooresponding crawler belt D places of anterior frame 220 and the supporting roller tube 203 cooresponding crawler belt G places of rear portion frame 203, and the feasible preceding portion mechanism 220 of making a concerted effort of three directions is done to rotate counterclockwise around hinge-point 206 with respect to rear portion frame 202.When the position-limited trough 231 of the locating dowel pin 230 that turns to anterior frame with the rear portion frame withstands mutually, then anterior frame is limited and can't continue to rotate counterclockwise, and this hinge-point 206 just can not be again to lower recess.

With reference to Figure 17, cterpillar drive 2 is in and upstairs finishes and go downstairs when initial, at this moment, its gravity of carrying parts of cterpillar drive is arrow F indication orientation, the supporting power that crawler belt is subjected to ground or stair surface simultaneously is in the active roll tube 207 cooresponding crawler belt D places of anterior frame 220 and the supporting roller tube 203 cooresponding crawler belt G places of rear portion frame 203, and the feasible preceding portion mechanism 220 of making a concerted effort of three directions is done to clockwise rotate around hinge-point 206 with respect to rear portion frame 202.At this moment, the locating dowel pin 230 of anterior frame and the position-limited trough 231 of rear portion frame be opposing connection hinge-point 206 backwards rotation mutually, hinge-point 206 places freely arch upward, because in this process, require the rotational angle of anterior frame 220 big (reaching 50 degree), and cterpillar drive of the present invention just can be finished corresponding step well.

With reference to Figure 18,19, the stair-climbing chair of the above-mentioned cterpillar drive of this employing, comprise seat body 1, on described seat body 1, be provided with control system 6, the bottom of described seat body 1 is provided with cterpillar drive 2, is provided with seat leveling device 5 between seat body 1 and cterpillar drive 2.The structure front of described cterpillar drive 2 was described, and did not repeat them here.

With reference to Figure 21, described seat leveling device 5 comprises horizon sensor 504, sensor control circuit and horizontal adjusting mechanism 526, described horizon sensor 504 comprises arc and seal glass body 506 that be built-in with mercury conductor 510, the central authorities of described mercury conductor 510 tops are provided with bubble 508, and a pair of contre electrode 507,509 of drawing from bubble 508 places and lean forward electrode 505 and the hypsokinesis electrode 511 of drawing from mercury conductor 510 both sides are wired to sensor control circuit respectively; Described sensor control circuit is arranged in the described control system 6.

Contre electrode 507,509 in the horizon sensor and two side electrodes 505,511 are by control signal amplifier 503 UNICOMs of lead 501 with control system, and output seat levelness is adjusted the control signal of electrical motor rotating.Totally four of horizon sensors 504 are symmetrically distributed in the both sides of seat body.Described four horizon sensors are installed in parallel on the line, the purpose that full seat is installed four groups of sensors altogether is in order to guarantee the reliability of its work, when any therein two groups of sensors sent control signal, the levelness setting device just carried out the adjustment operation of chair angle.Horizon sensor 504 adopts inserts the eliminant modular construction, can change by fast assembling-disassembling during maintenance.Because levelness sensor 504 is that on even keel is installed on seat 1 both sides, when it is in horizontality, bubble 508 in the mercury conductor is in the centre of glass tube 506, two contre electrodes 507,509 are at a distance of about 5 millimeter therebetween, not conducting mutually, and horizon sensor 504 is forwards when once tilting, mercury 510 makes lean forward electrode 511 and 509 conductings of left side contre electrode, the left side control circuit is conducting, sends corresponding operation signal, as shown in figure 21.When horizon sensor 504 backward directions once tilted, mercury 510 made hypsokinesis electrode 505 and 507 conductings of right side contre electrode, and the right side control circuit is conducting, sends corresponding operation signal, as shown in figure 22, thereby carries out different controlling.

With reference to Figure 23,24, described horizontal adjusting mechanism 526 comprises hinge bracing strut 513, last hinge axle 514, last hinge axle bed 515, electrical motor 516, retarder 517, lifting nut 518, following hinge axle 519, following hinge axle bed 520 and drive screw 521, described upward hinge bracing strut 513 is fixed on the seat body bottom and is connected with the described hinge axle 514 of going up, described upward hinge axle bed 515 is sleeved on described going up on the hinge bracing strut 513 and with lifting nut 518 and is connected, described lifting nut 518 is sleeved on the drive screw 521, and described electrical motor 516 mouths are connected to the bottom of described drive screw 521 by retarder 517; Described electrical motor 516, retarder 517 and drive screw 521 are fixed on the described down hinge axle 519, hinge-point 206 axis coincidings of described hinge axle 519 down and front and rear part frame and being arranged on rotationally on the described hinge axle bed 520 down.Described drive screw 521 is two, and is driven respectively by two retarders 517 about same electrical motor 516 drives.Described upward hinge axle 514 and last hinge axle bed 515 assemblies are a pair of and coaxial horizontally set.

Described retarder 517 is an all-sealed structure.Described lifting nut 518 tops are provided with dust protecting cap 525, and the bottom is provided with scalable dust protecting cap 523.The described hinge axle bed 515 of going up is provided with outer shield 524, and described hinge axle 519 down is provided with interior guard shield 522, and described outer shield 524 is linked on the described interior guard shield 522.

With reference to Figure 25, the described hinge axle 514 of going up is fixed on the top guide bracket 512 by last hinge bracing strut 513, and top guide bracket 512 then is fixed on the bottom of seat support 106.When electrical motor 516 receives the signal rotation that control system sends, the screw rod 512 that drives both sides by retarder 517 is done rotation in the same way, thereby make lifting nut 518 on the screw rod 512 up simultaneously or move down, and then drive seat body and upwards rotate by putting 527 around its hinge with anterior frame, make seat plane maintenance level.

Because the motion of the horizontal adjustment of seat is the circular arc type track, thereby the motion of leveling device is that a kind of straight-line motion rotates the aggregate motion that combines with circular arc.Leveling device can be decomposed into relative motion assembly that is made of last hinge axle bed 515, last dust protecting cap 525, lifting nut 518, scalable dust protecting cap 523, outer shield 524 and the relative stationary components that is made of electrical motor 516, retarder 517, following hinge axle 519, drive screw 521.Described relative motion assembly is made fore and aft motion along drive screw 521 on the one hand, does small rotation around last hinge axle 514 on the other hand.Described relative stationary components can be done small rotation around following hinge axle bed 520 again on the other hand and cooperate in harmony flexibly to guarantee each parts as the basis of relative motion assembly.

With reference to Figure 26,27, described seat body 1 comprises tread plate 101, seat cushion 102, seat support 106, handrail 107 and backrest 109, described seat support 106 bottoms be provided with described seat leveling device pivotally attached on lift hinge 104 and with the fixing hinge 111 of described anterior frame 220 pivotallys attached.Described seat cushion 102 is a soft cushion structure.The below of seat cushion 102 also is provided with seat cushion case 110, in order to seat levelness adjusting mechanism and electronic apparatus control device to be installed.Described handrail 107 belows also are provided with left and right sides armrest box 105,108, can place objects such as action button and lead-in wire, Charger (portable round) and lead, distress call device and first-aid medicine.Seat 1 usefulness fixedly hinge 111 is installed on the seat hinge 234 of track rail assembly front portion, and track rail assembly can rotate as fulcrum, and the maximum anglec of rotation is 45 degree.The installation site of seat 1 on track rail assembly is in the front portion of seat, its backrest is towards the place ahead of track rail assembly, and step is towards the rear of track rail assembly, so the occupant back is towards stair in climbing the building process, falling back upstairs, the front is seated downstairs, makes the occupant comparatively comfortable and safe when climbing the building.Also be provided with automatic operation device 112 on the described handrail 107, be convenient to operation.The side that described seat support 106 is positioned at the seat cushion below also offers horizon sensor mounting hole 103, four horizon sensors 504 are embedded in respectively in the corresponding mounting hole 103, get final product conserve space, can guarantee horizon sensor 504 reliable operations again, and be difficult for being damaged.

With reference to Figure 28,29, described control system comprises that central control unit able to programme (PLC), information input unit branch, information output part divide and power supply.The information input unit branch can receive the control foundation of several information such as power supply and running state data information, handle or button operation information, seat levelness sensory information, voice control information and other control input information as Programmable Logic Controller.Power controller is given in central control unit able to programme (PLC) output control information, handling three driving motors (driving motor of left track walking unit, the driving motor of crawler travel unit, right side, the driving motor of seat leveling device) by the running of designing program, makes seat move by operating needs.Central control unit and the operational factor of relevant seat such as voltage, speed, power information (the residual electric weight of storage battery, charge notification etc.) and other relevant information fed back is shown on the read-out of steering controller, the reference when using for occupant and operator.This read-out can also show brief first aid explanation when implementing distress call, for offering help for the rescuer.On the seat voice output module can also be set,, when the seat controller is provided with radio receiver, can play radio station news and CD etc. to carry out voice dialogue, broadcasting MP3 music, speech chronopher and timing prompting etc.In a word, according to user's operating needs, the central control unit on the seat can have bigger built-in capacity, increases more additional functions of use.

The power supply of described track driving mechanism and control system adopts the chargeable storage system, with the safety voltage power supply of low pressure 24V.

Of the present invention have a seat of climbing the building function, can by control system to seat send instruction finish climb the building, advance, retreat, exercises such as turning.Climb building process track unit part in front and made detailed description.

As previously mentioned, a traveling crawler assembly is arranged below this seat, adopt rubber belt track as ground-engaging element.So select for use this scheme to be because rubber belt track has good walking characteristic, operate steadily, adhesion factor is big over the ground, is easy to control.During walking, crawler belt is actionless with respect to ground, and during the active roll tube rotation, roller drives crawler belt, moves forwards or backwards thereby drive whole seat.Crawler belt respectively has a walking unit about on the assembly, structurally is separate, independent drive separately, but when seat was walked, these two crawler belts then were synchronized operation, when seat need advance, two track assemblies travelled forward synchronously, as shown in figure 30; When seat need retreat, two then motions backward synchronously of crawler belt, as shown in figure 31.The speed of travel of seat can be regulated, adopt step-governor d or continuous speed adjustment, its minimum speed of travel is 0.2 meter per second when the driving motor rotating speed is 1000 rev/mins, and its highest line is walked speed and is not more than 0.6 meter per second when the driving motor rotating speed is 3000 rev/mins.As when adopting step-governor d, its speed generally can be divided into three grades, as 0.2 meter per second, 0.4 meter per second and 0.6 meter per second.Seat is walked when maximum speed, its per hour the speed of travel be about 2.16 kms, be equivalent to common people's stroll speed at ordinary times, relatively steadily.

Because two crawler belts of track rail assembly have adopted separately independently drive system, the crawler belt seat can free change of direction, and has two kinds of steering modes such as original place rotation and circular arc rotation available:

1, original place rotation mode:

When selecting the original place rotation mode, the sense of motion of two crawler belts is opposite on the track rail assembly, is the place ahead with the seat dead ahead with reference to Figure 32, and left track travels forward, and the right side crawler belt moves backward, and seat rotates with regard to the cw original place.With reference to Figure 33, on the contrary, when left track moves backward, seat was with regard to left-hand revolution when the right side crawler belt travelled forward.The turn radius of seat is zero under the operating mode of original place rotation, and seat rotated with regard to the original place when crawler belt moved by this way.

Because the radius of rotation minimum of original place rotation adapts to when upper and lower stair are turned and uses.The width of the stair case of residential building building generally is about 1 ~ 1.2 meter when the two-fold stair, about 2.5 meters of length adopts the pivot stud mode when climbing the building, and the crawler type seat can be current in stair case very easily.

2, circular arc rotation mode:

With reference to Figure 34, crawler belt advances at a slow speed when the right side, when left track advances fast simultaneously, and seat pitch of the laps cw right-hand corner.When right side crawler belt slow astern, when left track retreats fast simultaneously, seat pitch of the laps conter clockwise right-hand corner.V1 represents the running velocity of right side crawler belt among the figure, and V2 represents the running velocity of left track, and R represents turn radius, and O represents to turn around the center.

With reference to Figure 35, crawler belt advances fast when the right side, during the slow tape travel of left track simultaneously, and seat pitch of the laps cw turnon left.Crawler belt retreats fast when the right side, and left track is with when retreating seat pitch of the laps conter clockwise turnon left slowly simultaneously.

Seat generally should not adopt the steering mode of original place rotation when level walking, to prevent the undue wear of crawler belt.The mode that then adopts circular arc to turn to during at level walking when seat.The speed that seat is turned depends on the absolute rotating speed of each crawler belt and the speed discrepancy between the crawler belt of the left and right sides.

With reference to Figure 36, this diagram of circuit has shown the dwelling house (or other buildings) that has only folding stair for each floor, climbs the building all processes from bottom to living floor.The process of going downstairs is then pressed figure below program inverted running and is got final product.

With reference to Figure 37, this diagram of circuit has shown the dwelling house (or other buildings) that has only the two-fold stair for each floor, climbs the building all processes from bottom to living floor.The process of going downstairs is then pressed figure below program inverted running and is got final product.

With reference to Figure 38, above one " subprogram of stair climbing " all arranged in two kinds of flow charts of climbing the building overall process, this diagram of circuit has then shown the single building program of climbing, downstairs process is then pressed figure below program inverted running.

With reference to Figure 39-44, be provided with and program according to diagramatic way, can finish the various building actions of climbing.

What should be understood that is: the foregoing description is just to explanation of the present invention, rather than limitation of the present invention, and any innovation and creation that do not exceed in the connotation scope of the present invention all fall within protection scope of the present invention.

Claims (10)

1, a kind of cterpillar drive, comprise by one and integrate two identical walking unit (232,233) that frame (221) connects, it is characterized in that: each walking unit (232,233) comprises crawler belt (209), anterior frame (220) and rear portion frame (202), crawler belt (209) is supported by the roller group that is located on anterior frame (220), the rear portion frame (202), comprising active roll tube (207), this active roll tube is connected with track driving mechanism on (207); Described anterior frame (220) is hinged with rear portion frame (202), locates to be provided with bottom changed course roller (216) at hinge-point (206), and the below of bottom changed course roller (216) forwardly forms breach (223) between frame (220), the rear portion frame (202).

2, cterpillar drive according to claim 1 is characterized in that: described roller group comprises the active roll tube (207) that is positioned on the anterior frame (220), tensioning roller (215), the top first changed course roller (212) and is positioned at bottom air bells removing roll tube (217), lower support roller (218), the driven roller of afterbody (201) and top second on the rear portion frame (202) roller (213) that alters course; Described crawler belt (209) is in the following manner successively through forming closed loop behind each roller: the inner surface envelope top first changed course roller (212), tensioning roller (215), active roll tube (207), outer surface envelope bottom changed course roller (216), inner surface envelope bottom air bells removing roll tube (217), lower support roller (218), the driven roller of afterbody (201), the outer surface envelope top second changed course roller (213); Described active roll tube (207) passes through the tooth engaged transmission with crawler belt (209) inner surface.

3, cterpillar drive according to claim 2 is characterized in that: the crawler belt (228) of part is 30 ~ 45 degree with the angle (α) of horizontal surface between envelope active roll tube (207) and the tensioning roller (215); Described lower support roller (218) is 1-5, and the crawler belt (224) of the driven roller part of a plurality of lower support rollers of envelope (218) and afterbody linearly; Also be provided with afterbody changed course roller (211) on the described rear portion frame (202), make crawler belt (209) the parallelogram shape of envelope rear portion frame (202) part.。

4, cterpillar drive according to claim 2, it is characterized in that: also be provided with track takeup on the roller seat (210) of described tensioning roller (215), this track takeup comprises a pair of adjustment screw rod (302) and tensioning spring (303), described a pair of adjustment screw rod (302) bottom is coupling on the installation base plate (306) that is fixedly connected with described anterior frame (220), the top be connected to one with the fixing top board (308) of described tensioning roller seat (210) on; And the bottom of described each adjustment screw rod (302) is provided with a break-in umbrella wheel (301), and described break-in umbrella wheel (301) mouth connects adjusts spanner; Described tensioning spring (303) is sleeved on to be adjusted on the screw rod (302), the bottom be fixed on one with bracket (304) that described adjustment screw rod (302) is threaded on, the top is fixed on the top board (308).

5, cterpillar drive according to claim 1 and 2, it is characterized in that: described anterior frame (220) is located the top at hinge-point (206) and is provided with locating dowel pin (230), described rear portion frame (202) hinge-point (206) locate the top design have corresponding with locating dowel pin (230), prevent that anterior frame (220) from toppling over the arc position-limited trough (231) of excessive angle backward.

6, cterpillar drive according to claim 1 and 2 is characterized in that: described crawler belt (209) comprises the flute profile in inboard flute profile Drive Layer (225), middle tensile strength layer (226) and the outside creep layer (227).

7, a kind of stair-climbing chair that adopts above-mentioned cterpillar drive, comprise seat body (1), it is characterized in that: on described seat body (1), be provided with control system (6), the bottom of described seat body (1) is provided with described cterpillar drive (2), is provided with seat leveling device (5) between seat body (1) and cterpillar drive (2).

8, stair-climbing chair according to claim 7, it is characterized in that: described seat leveling device (5) comprises horizon sensor (504), sensor control circuit and horizontal adjusting mechanism (526), described horizon sensor (504) comprises arc and seal glass body (506) that be built-in with mercury conductor (510), the central authorities of described mercury conductor (510) top are provided with bubble (508), the contre electrode of locating to draw from bubble (508) (507,509) and the electrode that leans forward (505) and the hypsokinesis electrode (511) of drawing from mercury conductor (510) both sides be wired to sensor control circuit respectively; Described sensor control circuit is arranged in the described control system (6); Described horizontal adjusting mechanism (526) comprises hinge bracing strut (513), last hinge axle (514), last hinge axle bed (515), electrical motor (516), retarder (517), lifting nut (518), following hinge axle (519), following hinge axle bed (520) and drive screw (521), described upward hinge bracing strut (513) is fixed on the seat body bottom and is connected with the described hinge axle (514) of going up, described upward hinge axle bed (515) is sleeved on the described hinge bracing strut (513) of going up and upward and with lifting nut (518) is connected, described lifting nut (518) is sleeved on the drive screw (521), and described electrical motor (516) mouth is connected to the bottom of described drive screw (521) by retarder (517); Described electrical motor (516), retarder (517) and drive screw (521) are fixed on the described down hinge axle (519), hinge-point (206) axis coinciding of described hinge axle (519) down and front and rear part frame and being arranged on rotationally on the described hinge axle bed (520) down.

9, stair-climbing chair according to claim 7 is characterized in that: described drive screw (521) is two, and is driven respectively by two retarders (517) about same electrical motor (516) drive.

10, stair-climbing chair according to claim 7, it is characterized in that: described seat body (1) comprises tread plate (101), seat cushion (102), seat support (106), handrail (107) and backrest (109), described seat support (106) bottom be provided with described seat leveling device pivotally attached on lift hinge (104) and with the fixing hinge (111) of described anterior frame (220) pivotally attached.

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